US11190020B2 - Direct current voltage coordination control method - Google Patents

Direct current voltage coordination control method Download PDF

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Publication number
US11190020B2
US11190020B2 US16/643,472 US201816643472A US11190020B2 US 11190020 B2 US11190020 B2 US 11190020B2 US 201816643472 A US201816643472 A US 201816643472A US 11190020 B2 US11190020 B2 US 11190020B2
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Prior art keywords
voltage
active power
converter
turning
control mode
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US20200366096A1 (en
Inventor
Nannan Wang
Yu Lu
Yunlong DONG
Jie Tian
Dongming CAO
Haiying Li
Chongxue JIANG
Jiacheng Wang
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NR Electric Co Ltd
NR Engineering Co Ltd
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NR Electric Co Ltd
NR Engineering Co Ltd
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Assigned to NR ENGINEERING CO., LTD, NR ELECTRIC CO., LTD reassignment NR ENGINEERING CO., LTD ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CAO, Dongming, DONG, Yunlong, JIANG, Chongxue, LI, HAIYING, LU, YU, TIAN, Jie, WANG, JIACHENG, WANG, NANNAN
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/36—Arrangements for transfer of electric power between ac networks via a high-tension dc link
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/12—Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • H02J1/10—Parallel operation of dc sources
    • H02J1/102—Parallel operation of dc sources being switching converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • H02J1/10—Parallel operation of dc sources
    • H02J1/106—Parallel operation of dc sources for load balancing, symmetrisation, or sharing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/60—Arrangements for transfer of electric power between AC networks or generators via a high voltage DC link [HVCD]

Definitions

  • the present invention belongs to the technical field of VSC-HVDC transmission of power systems, and particularly relates to a DC voltage coordination control method.
  • Multi-terminal VSC-HVDC and VSC-HVDC power grids have better operational flexibility and reliability than two-terminal VSC-HVDC power transmission, and they have greater advantages in the construction of large-scale VSC-HVDC power grids, which can meet grid interconnection, urban grid power supply, interconnection of multiple wind farms (new energy), etc.
  • the complexity of coordination control between multiple converters is greatly increased. How to ensure the DC voltage stability of VSC-HVDC systems to construct multiple converter station systems becomes a difficulty of the scale expansion of the VSC-HVDC power grids.
  • the purpose of the present invention is to provide a scalable DC voltage coordination control method.
  • the method is implemented by upper-level control and lower-level control.
  • the upper-level control ensures the steady-state performance of the system and the lower-level control ensures the transient-state performance and stability of the system.
  • the lower-level control since the operating characteristics of the converter are self-adjusted according to the power setting value of the converter, the method avoids the problem that the fixed slope and margin cannot meet all operating conditions, and is suitable for large-scale multi-terminal VSC-HVDC systems and VSC-HVDC power grid systems.
  • a DC voltage coordination control method applied to a multi-terminal VSC-HVDC power transmission system or a VSC-HVDC power grid system includes a lower-level control that generates an active power reference value of the converter according to a control mode of the converter; the control mode of the converter is a DC voltage control mode or an active power control mode;
  • the converters of the multi-terminal VSC-HVDC power transmission system or the VSC-HVDC power grid system are configured with the lower-level control, and the lower-level control of any converter including the following steps:
  • step 2) turning to step 2) if the converter control mode is the DC voltage control mode, otherwise turning to step 3);
  • step 2 2) generating the active power reference value of the converter according to the difference of the DC voltage reference and the converter DC voltage, and turning to step 1);
  • step 4 3) generating a DC voltage active power curve of the converter according to an active power setting value of the converter, then turning to step 4);
  • step 4) generating the active power reference value of the converter according to the converter DC voltage and the DC voltage active power curve of the converter, then turning to step 1).
  • generating a DC voltage active power curve of the converter according to an active power setting value of the converter in step 3) of the lower-level control includes the following steps:
  • the ultimate maximum DC voltage, the maximum DC voltage, the minimum DC voltage, and the ultimate minimum DC voltage are preset values determined according to system study, and the ultimate maximum DC voltage the maximum DC voltage the minimum DC voltage the ultimate minimum DC voltage; and the maximum inversion active power is the maximum active power when the converter is operating in an inversion state, the maximum rectification active power is the maximum active power when the converter is operating in a rectification state, the maximum inversion active power and the maximum rectification active power are both determined according to system study;
  • the active power reference value of the converter obtained by retrieving the DC voltage active power curve of the converter and determining the active power corresponding to the measured converter DC voltage as the active power reference value of the converter.
  • step 2) of the lower-level control generating the active power reference value of the converter according to the difference of the DC voltage reference and the converter DC voltage is achieved by using the difference through a proportional-integral controller to obtain the active power reference value of the converter.
  • the above-mentioned DC voltage coordination control method is characterized in that the method further comprising an upper-level control, and the upper-level control adjusting the control mode of the lower-level control and the active power setting value, the upper-level control comprising the following steps:
  • step 2 (1) monitoring the state of the control mode of each converter; sending the instruction of switching to the DC voltage control mode to the converter with the highest priority according to the preset priority, when no operating converters which are interconnected at the DC side are in the DC voltage control mode; sending the instruction of switching to the active power control mode to the other converters other than the converter with the highest priority, which are operated in the DC voltage control mode, when a plurality of the operating converters which are interconnected at the DC side are in the DC voltage control mode, then turning to step 2);
  • the overload state is one of a rectification overload or an invertion overload
  • the lower-level control when the upper-level control is included, the lower-level control further comprising the following steps:
  • step c) turning to step b) once receiving the instruction of switching to the DC voltage control mode from the upper-level control, otherwise turning to step c);
  • step c) switching the control mode of the converter to the DC voltage control mode, then turning to step c);
  • step c) turning to step d) once receiving the instruction of switching to the active power control mode from the upper-level control, otherwise turning to step e);
  • step e) switching the control mode of the converter to the active power control mode, then turning to step e);
  • step f once receiving the overload state of the upper-level, when the overload state is a rectification overload and the active power setting value of the converter is an inversion power, turning to step f); or when the overload state is an inversion overload and the active power setting value is a rectification power, turning to step f), otherwise turning to step a);
  • step f reducing the active power setting value of the converter according to a preset step, then turning to step a);
  • the interconnection at the DC side refers to that the DC-side of the converter are connected directly or connected through DC lines.
  • the rectification overload is an overload that occurs when the converter is in rectification operation
  • the inversion overload is an overload that occurs when the converter is in inversion operation.
  • step f) of the lower-level control the preset step is determined according to system study, with a value ranging from 0 MW to the maximum active power of the converter; reducing the active power setting value of the converter refers to reducing the active power setting value of the converter in the direction of reducing an absolute value of the active power setting value of the converter.
  • the DC voltage coordination control method provided by the present invention avoids the problem that the fixed slope and margin cannot meet all operating conditions by self-adjusting the operating characteristics of the converter according to the power setting value of the converter.
  • the DC voltage coordination control method provided by the present invention can ensure the transient performance and stability of the system in the event of a communication failure, and has a low dependence on communication.
  • the power setting value can also be adjusted by the operator to avoid out-of-control problems when losing the upper-control.
  • the DC voltage coordination control method provided by the present invention can only use a lower-level control for some converters according to the system conditions, which is suitable for large-scale VSC-HVDC systems and has scalability.
  • the DC voltage coordination control method provided by the present invention allocates the active power adjustment amount of each converter according to the standby adjustment capacity of the converter, so that a converter with a large standby capacity can adjust more active power, beneficial to maintain the stability of the DC voltage.
  • the adjustment of the operating characteristics of the converter depends only on the power setting value of the converter, so that the method is simple and reliable.
  • FIG. 1 is an upper-level control flowchart
  • FIG. 2 is a lower-level control flowchart
  • FIG. 3 is a schematic diagram of the DC voltage active power curve of the converter.
  • FIG. 1 is a flowchart of the upper-level control.
  • the upper-level control adjusts the control mode and active power setting value of the lower-level control
  • the lower-level control adjusts the external operating characteristics of the corresponding converter, including two steps:
  • Step 101 monitoring the state of the control mode of each converter: when no operating converters which are interconnected at the DC side are in the DC voltage control mode, at this time, there is no converter using the DC voltage control mode in the interconnected system to balance the DC power, thus the instruction of switching to the DC voltage control mode is sent to the converter with the highest priority according to the preset priority; the instruction of switching to the active power control mode is sent to the other converters other than the converter with the highest priority, which are operated in the DC voltage control mode, when a plurality of the operating converters which are interconnected at the DC side are in the DC voltage control mode, to keep only one converter in the interconnected system is in DC voltage control mode;
  • Step 102 monitoring the overload state of the converters in voltage control mode: the overload state is sent to the lower-level control of other converters which are interconnected at the DC side of the overload converters, the overload state is one of a rectification overload or an inversion overload, wherein the rectification overload is an overload that occurs when the converter is in rectification operation, and the inversion overload is an overload that occurs when the converter is in inversion operation.
  • the lower-level control adjusts the active power setting value to achieve the adjustment of the external operating characteristics.
  • FIG. 2 is a flowchart of the lower-level control.
  • the lower-level control includes the following steps:
  • Step 201 turning to step 202 once receiving the instruction of switching to the DC voltage control mode from the upper-level control, otherwise turning to step 203 ;
  • Step 202 switching the control mode of the converter to the DC voltage control mode, then turning to step 203 ;
  • Step 203 turning to step 204 once receiving the instruction of switching to the active power control mode from the upper-level control, otherwise turning to step 205 ;
  • Step 204 switching the control mode of the converter to the active power control mode, then turning to step 205 ;
  • Step 205 once receiving the overload state of the upper-level, when the overload state is a rectification overload and the active power setting value of the converter is an inversion power, turning to step 206 ; or when the overload state is an inversion overload and the active power setting value is a rectification power, turning to step 206 , otherwise turning to step 207 ;
  • Step 206 reducing the active power setting value of the converter according to a preset step, then turning to step 207 ; the preset step is determined according to system study, with a value ranging from 0 MW to the maximum active power of the converter, if the step length is 1 MW, then 1 MW of the active power setting value will be reduced for each execution cycle; reducing the active power setting value of the converter refers to reducing the active power setting value of the converter in the direction of reducing an absolute value of the active power setting value of the converter; if the active power setting value in the previous execution cycle is 100 MW, which is in the rectification direction, then the setting value of the active power in the present execution cycle is 99 MW; if the setting value of the active power in the previous execution cycle is ⁇ 100 MW, which is in the inversion direction, then the setting value of the active power in present execution cycle is ⁇ 99 MW since only the value is reduced.
  • Step 207 turning to step 208 if the converter control mode is the DC voltage control mode, otherwise turning to step 209 ;
  • Step 208 generating the active power reference value of the converter according to the difference of the DC voltage instruction and the converter DC voltage, and turning to step 201 ; this step uses a DC voltage controller to control the DC voltage as a target value to generate the converter active power reference value.
  • Step 209 generating a DC voltage active power curve of the converter according to an active power setting value of the converter, then turning to step 210 ;
  • Step 210 generating the active power reference value of the converter according to the converter DC voltage and the DC voltage active power curve of the converter, then turning to step 201 .
  • the DC voltage of the converter may be the inter-electrode voltage of the converter.
  • steps 201 to 206 may be omitted.
  • the lower-level control is configured in the converter control, which is arranged at a lower control level to improve the reliability of the control system.
  • the upper-level control can be configured at any position as needed, in a distributed configuration with the lower-level control, and interacting with the lower-level control through communication. In large-scale VSC-HVDC system applications, only some converters with strong adjustment capabilities are configured with lower-level control according to the system conditions, and some converters configured with lower-level control are used for maintaining DC voltage stability.
  • FIG. 3 is a schematic diagram of a DC voltage active power curve of the converter, and the above steps 209 and 210 are further described in combination with the figure.
  • U dmax_abs is the ultimate maximum DC voltage
  • U dmax is the maximum DC voltage
  • U dmin_abs is the ultimate minimum DC voltage
  • U dmin is the minimum DC voltage
  • P inv_max is the maximum inversion active power
  • P rec_max is the maximum rectification active power, both determined according to system study.
  • the ultimate maximum DC U voltage U dmax_abs can be determined according to the DC overvoltage setting value
  • the maximum DC U voltage U dmax can be determined according to the highest voltage value during steady-state operation
  • the ultimate minimum DC U voltage U dmin_abs can be determined according to the DC low voltage setting value
  • the minimum DC voltage U dmin can be determined according to the minimum voltage value during steady-state operation.
  • the inversion inverter maximum active power P inv_max is determined based on the maximum active power when the converter is operating in an inversion state.
  • the rectified maximum active power P rec_max can be determined based on the maximum active power when the converter is operating in a rectification state. The above determination refers to taking an appropriate reliability factor.
  • the active power reference value of the converter can be generated according to the converter DC voltage and the DC voltage active power curve of the converter.
  • the active power reference value P ref can be obtained according to the DC voltage active power curve 1
  • the active power reference value P ref ′ can be obtained according to the DC voltage active power curve 2 .
  • the active power setting value is adjusted from P set to P set ′
  • the operating characteristics of the converter are automatically adjusted.
  • the adjustment amount of the power instruction value of the converter and the standby adjustment capacity of the converter is proportional, that is:
  • P set ⁇ P inv_max is the standby adjustment capacity when the active power setting value is P set
  • P set ′ ⁇ P inv_max is the standby adjustment capacity when the active power setting value is P set ′.
  • the active power adjustment amount of each converter can also be allocated according to the standby adjustment capacity, so that the converter with large standby capacity can adjust more active power to keep the DC voltage stable.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Dc-Dc Converters (AREA)
  • Inverter Devices (AREA)
  • Direct Current Feeding And Distribution (AREA)
  • Rectifiers (AREA)
US16/643,472 2017-09-05 2018-05-07 Direct current voltage coordination control method Active US11190020B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201710788486.3A CN109428341B (zh) 2017-09-05 2017-09-05 一种直流电压协调控制方法
CN201710788486.3 2017-09-05
PCT/CN2018/085842 WO2019047546A1 (zh) 2017-09-05 2018-05-07 一种直流电压协调控制方法

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EP (1) EP3675307A4 (ko)
JP (1) JP6783970B2 (ko)
KR (1) KR102132580B1 (ko)
CN (1) CN109428341B (ko)
CA (1) CA3074159C (ko)
MX (1) MX2020002394A (ko)
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WO (1) WO2019047546A1 (ko)

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CN112736892B (zh) * 2020-12-30 2022-04-08 丽水市普明电力建设工程有限公司 一种防止直流电网电压越限的协调控制方法

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EP3675307A4 (en) 2021-05-26
JP2020528260A (ja) 2020-09-17
JP6783970B2 (ja) 2020-11-11
EP3675307A1 (en) 2020-07-01
KR102132580B1 (ko) 2020-07-09
RU2736651C1 (ru) 2020-11-20
CN109428341A (zh) 2019-03-05
CN109428341B (zh) 2021-12-10
CA3074159C (en) 2020-12-29
CA3074159A1 (en) 2019-03-14
KR20200020972A (ko) 2020-02-26
MX2020002394A (es) 2020-07-22
US20200366096A1 (en) 2020-11-19
WO2019047546A1 (zh) 2019-03-14

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